Used Robots.com: Panasonic G Advanced Programming

Appendix A. Error/Alarm App.- 14 A-4. Error recovery at specific attitude The “Specific attitude” is defined as the position when BW axis is positioned close to 0ｰ (TW-axis
and RW axis are positioned in parallel). The robot may go into an error state when a point with
such specific attitude is taught in linear interpolation or circular interpolation sections or when the
robot takes such specific attitude while tracing or operating.
It is possible to recover from this kind of error by adding a teaching point of the wrist calculation
No.3 (CL=3) in front of the teaching point with specific attitude. (In that case, a teaching point of the
original wrist calculation No. should be added to the position after the point with specific attitude.) < Example applications > To move the robot from the point A to B with linear interpolation :
Suppose the robot goes into an error at the point C caused by the specific attitude while
traveling from the point A to B, ,P） Move to the point A using the trace backward. (to the point D) ,Q） Press the^MENU “menu” key and change CL No. to “3”, then add a teaching point. ,R） Move to a point (point E) after the point with specific attitude using articulated coordinate
system. ,S） Press the^MENU “menu” key and change CL No. to “0”, then add a teaching point. Point A Point D Point C Point E Point B < Remarks > Interpolation of CL No.3 does not keep the tool attitude constant. Therefore, it is recommended
to create the interpolation section of CL NO.3 as short as possible and to trace the section
carefully at low speed.


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